Head-mounted interface for intuitive vision control and continuous surgical operation in a surgical robot system.
Although robot-assisted surgeries offer various advantages, the discontinuous surgical operation flow resulting from switching the control between the patient-side manipulators and the endoscopic robot arm can be improved to enhance the efficiency further. Therefore, in this study, a head-mounted ma...
| Publicado en: | Medical & Biological Engineering & Computing Vol. 57; no. 3; pp. 601 - 615 |
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| Autores principales: | , , , |
| Formato: | Journal Article |
| Publicado: |
Springer Nature
Mar2019
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=135086828&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 135086828 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: Mar2019 vid: 57 iid: 3 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 135086828 135086828 NLM30280331 10.1007/s11517-018-1902-4 NLM30280331 135086828 ppf: 601 ppct: 14 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: Head-mounted interface for intuitive vision control and continuous surgical operation in a surgical robot system. aug: au: Hong, Nhayoung Kim, Myungjoon Lee, Chiwon Kim, Sungwan affil: Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, 03080, Seoul, Republic of Korea sug: subj: Robotic Surgical Procedures Methods Surgeons Laparoscopy Methods Robotic Surgical Procedures Equipment and Supplies Endoscopy Equipment and Supplies Reproducibility of Results Vision Equipment Design Minimally Invasive Procedures Equipment and Supplies Head Time Factors Laparoscopy Equipment and Supplies Motion Endoscopy Methods ab: Although robot-assisted surgeries offer various advantages, the discontinuous surgical operation flow resulting from switching the control between the patient-side manipulators and the endoscopic robot arm can be improved to enhance the efficiency further. Therefore, in this study, a head-mounted master interface (HMI) that can be implemented to an existing surgical robot system and allows continuous surgical operation flow using the head motion is proposed. The proposed system includes an HMI, a four degrees of freedom endoscope control system, a simple three-dimensional endoscope, and a da Vinci Research Kit. Eight volunteers performed seven head movements and their data from HMI was collected to perform support vector machine (SVM) classification. Further, ten-fold cross-validation was performed to optimize its parameters. Using the ten-fold cross-validation result, the SVM classifier with the Gaussian kernel (σ = 0.85) was chosen, which had an accuracy of 92.28%. An endoscopic control algorithm was developed using the SVM classification result. A peg transfer task was conducted to check the time-related effect of HMI's usability on the system, and the paired t test result showed that the task completion time was reduced. Further, the time delay of the system was measured to be 0.72 s. Graphical abstract A head-mounted master interface (HMI), which can be implemented to an existing surgical robot system, was developed to allow simultaneous surgical operation flow. The surgeon's head motion is detected through the proposed HMI and classified using a support vector machine to manipulate the endoscopic robotic arm. A classification accuracy of 92.28% was achieved. pubtype: Academic Journal doctype: Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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